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In order to resolve the formation tracking problem of cooperative control of multiple Autonomous Underwater Vehicles (AUVs), a variable structure control law was proposed to keep the AUVs track along the predefined trajectory by minimizing the cross track error, which is calculated from the line-of-sight angle. Furthermore, a mathematical model for the formation based on leader-follower was established...
This paper presents an intelligent decision algorithm and an on-board architecture designed to enable an autonomous underwater vehicle (AUV) to carry out a survey mission autonomously. The connotation of global model in decision algorithm is analyzed, including environment information, mission information and Self-states of AUV. The survey mission of multi-objective operation areas in an unsafe zone...
This paper introduces the application of a newly developed optimal control method for an autonomous underwater vehicle (AUV) and actuator failure performance in case of the failure of either rudder or stern fin. The six degree-of-freedom (DOF) nonlinear equations of motion were used in the control. For failure and no-failure cases, two control system models were developed. By implementing a multiple...
During 2004-08 we have conducted a series of five expeditions mobilizing the ABE autonomous underwater vehicle aboard various research ships of opportunity to prospect for and locate sites of hydrothermal activity along sections of back-arc basin and/or mid-ocean ridge where mid-water hydrothermal plumes had previously been detected. In all circumstances, to date, these expeditions have led to discovery...
An increasingly important tool of mine counter-measures (MCM) is a team of autonomous unmanned vehicles (AUV) working in cooperation to provide effective mine detection. This approach reduces the total time required to create a map of mines in an underwater field while minimizing physical risk to humans. The challenge for the designers is to most effectively use the resources of the AUV team to obtain...
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